CN104032438B - Shed open extreme lower position has the method for designing of six bar shedding mechanisms of long pause angle - Google Patents
Shed open extreme lower position has the method for designing of six bar shedding mechanisms of long pause angle Download PDFInfo
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Abstract
The invention discloses the method for designing that a kind of shed open extreme lower position has six bar shedding mechanisms of long pause angle, in design, use the coupler-point curve of crank and rocker mechanism, utilize a lever point on the first connecting rod extended surface of a crank and rocker mechanism to do 8-shaped curvilinear motion, at described lever point series connection a pair of bar assembly, the plane motion of described lever point drives opening arm to swing through the input connecting rod of described pair of bar assembly, in the time that lever point moves along 8-shaped curve right part arc section, it is approximate motionless that opening arm swings point, realize a kind of opening arm and there is asymmetric pause angle at two limit positions, especially there is the long shedding mechanism pausing in shed open extreme lower position, and articulated linkage mechanism in the present invention is simple, revolute pair is stressed less than lower pair, and stressed level and smooth, the Shaochong of revolute pair is hit, and this is applicable to transformation and the design of shedding mechanism of weaving machine, especially for high-speed broad-width loom.
Description
Technical field
The invention belongs to air-jet loom field, relate to a kind of method for designing of beating-up mechanism, toolBody relates to a kind of shed open extreme lower position and has the design side of six bar shedding mechanisms of long pause angleMethod.
Background technology
Most shedding mechanisms are made up of cam swing mechanism and heald frame system. Cam swing mechanismGreatest drawback be that the pressure of cam and cam follower contact surface is very large, cam and cam turnBetween son, friction surface is because of the large generation wearing and tearing of pressure, between wearing and tearing aggravation cam and cam followerImpact. Loom speed is more and more higher, brings at a high speed vibration and bumpy motion, impact withWear and tear increasing; Especially negative shedding mechanism adopt return spring do force-closed, whenWhen loom rotating speed is greater than 650 revs/min, impact the large all another part to damaging shedding mechanism. ThoughSo can substitute force-closed cam with conjugate cam, but the accuracy of manufacture of conjugate cam is high,Once the accuracy of manufacture can not meet design requirement, produce equally thump and strong vibration. And cut with scissorsConnective pole mechanism in speed and load ability to bear far above cam mechanism, articulated linkage mechanismBe widely used in that various high speeds are high carries in automations, just the calculating of articulated linkage mechanism andDesign is than cam mechanism complexity.
Design articulated linkage shedding mechanism, first requirement is the curve movement pair of shedding mechanismClaim, the displacement curve of linkage is not accomplished full symmetric, can only accomplish near symmetrical. OnlyCan require Bar Linkage Shedding Mechanism to generate the good curve of output of symmetry. Second requirement connecting rodWinding machine has pause at opening arm extreme position, and pitch curve is easy to accomplish certain sectionProfile is circular arc, and constant arc radius is equivalent to the pause of output movement, uses linkageRealize pause more difficult, can only realize approximate pause. Weaving process requires shedding mechanism completeBecome the configuration of shed open, but the required precision of execution is not high, the open height of every page of heald frameAll adjustable. Heald frame can be used open height in the dead time of shed open extreme lower position lengthReplace, if the dead time is inadequate, open height is heightened a bit. Heald frame is the highest at shed openIt is that heald frame is the highest at shed open in order during this period of time to complete wefting insertion action that lower position pausesLower position is a region, and harness frame in aweaving machine exceedes 3 millimeters in the vibration of extreme lower position now,Exceed 1.5 millimeters in the vibration of extreme higher position, heald frame has crawl not affect weft yarn at shuttle a littleIn mouthful, flight and wefting insertion action completes.
Reproduce given trace, the given trace of having no idea accurately to reproduce with coupler-point curve. In designUpper use coupler-point curve approaches designing requirement, and method is to approach, and approaches and is applicable to loom openingThe design of mechanism, especially for high-speed broad-width loom. Articulated linkage mechanism is simple, rotatesPair is born higher heavy load than lower pair, and revolute pair is stressed smoothly, Shaochong is hit.
Summary of the invention
In order to meet the demand, the present invention aims to provide a kind of shed open extreme lower position and has lengthThe method for designing of six bar shedding mechanisms of pause angle, has realized shedding mechanism opening arm at pendulumApproximate pause and the shed open extreme lower position of moving extreme position have long pause angle.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is by following skillArt scheme realizes:
Shed open extreme lower position has a method for designing for six bar shedding mechanisms of long pause angle,Utilize the crank of a crank and rocker mechanism to drive a lever point on first connecting rod extended surface to make 8 wordsShape curvilinear motion, it is slow that the right part of described 8-shaped curve has velocity variations, describedLever point series connection a pair of bar assembly, the plane motion of described lever point is through described pair of bar assemblyInput connecting rod drives opening arm to swing; When described lever point is along described 8-shaped curve right-hand memberPortion's arc section motion, the swing point of described pair of bar assembly opening arm is approximate motionless, thereby realizesDescribed opening arm swinging the approximate pause of extreme position, described shedding mechanism is at shed openExtreme lower position has long pause angle; Specific design step is as follows:
Step 1) design and build described crank and rocker mechanism;
If the physical dimension of described crank and frame is known, design objective is to ask described first to connectThe length of bar and rocking bar, meets following condition:
1.1LAB+LAD<LBC+LCD；
1.2LBC>3.2×LAB；
1.3180°＞θ12＞179.7°；
In formula, LAB, LBC, LCD represent respectively described crank, described first connecting rod and instituteState the length of rocking bar, LAD represents the length of frame between the first pin joint and the second pin joint,θ12Represent the crank angle between two limit positions of described crank;
According to above-mentioned condition, draw the length of described first connecting rod and described rocking bar; Described in inciting somebody to actionThe two ends of first connecting rod are hinged with one end of described crank and described rocking bar respectively, then described in inciting somebody to actionThe other end of crank is hinged on the first pin joint of frame, by the other end hinge of described rocking barBe connected on the second pin joint of frame;
Step 2) choose 8-shaped coupler-point curve;
2.1 described first connecting rod extended surface take up an official post get one described in lever point, form connecting rod threeDihedral, first gets LBF > > LCF, chooses described lever point and should meet following 2 points:
1) described lever point is near described rocking bar extended line;
2)LCF＝(0.9-1.1)×LAB；
In formula, LAB, LCF, LBF represent that respectively described crank, described connecting rod are leg-of-muttonThe length of third connecting rod and second connecting rod;
2.2 geometric locuses of choosing described lever point are flat 8-shaped curve;
Step 3) build described pair of bar assembly;
One end of one input connecting rod is hinged on described lever point, by described input connecting rodOne end of the other end and an opening arm is hinged, then the other end of described opening arm is joined at machineOn the 3rd pin joint of frame, form described pair of bar assembly; Described lever point is taken at described 8 wordsThe end points of the shape curve rightmost side, and be connected with the peak of the described swing locus of points, described in makingThe length of input connecting rod is for the longest.
The position of described the 3rd pin joint of variation frame, the bar that changes described opening arm is long,Change the position of described swing point, regulated the track of described lever point and described swing pointThe relative position of curve, obtains respectively the angular displacement curve of described opening arm after each variation,Until the described angular displacement curve of obtaining has asymmetric at two extreme positions of described opening armPause;
Step 4) by the angular displacement curve of described opening arm and angular speed curve inspection symmetry andPause angle;
The bar that changes described input connecting rod is long, and the bar that changes described third connecting rod is long, described in makingAngular displacement curve, angular speed curve and the angular acceleration curve of opening arm meet following condition:
1) the absolute value < 0.4 of maximum dimensionless angular acceleration;
2) two of angular speed curves poor absolute value-180 ° of described degree in crank angle corresponding to zero point＜3.2°；
3) angular displacement curve is 18 ° of the pause angle of extreme higher position >;
4) angular displacement curve is 60 ° of the pause angle of extreme lower position >.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention has used the coupler-point curve of crank and rocker mechanism in the time of designed openings mechanism, allowsA lever point on crank and rocker mechanism first connecting rod extended surface does 8-shaped curve, and at thisLever point connects one or two bar assemblies, in the time that lever point moves along 8-shaped curve right part arc section,It is approximate motionless that opening arm swings point, realized a kind of opening arm have at two limit positions not rightClaim pause angle, especially there is the long shedding mechanism pausing in shed open extreme lower position; AndArticulated linkage mechanism in the present invention is simple, and revolute pair is stressed less than lower pair, and revolute pair is stressedSmoothly, Shaochong hits, this is applicable to transformation and the design of shedding mechanism of weaving machine, especially forHigh-speed broad-width loom.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand thisThe technological means of invention, and can be implemented according to the content of description, below with the present inventionPreferred embodiment and coordinate accompanying drawing describe in detail. The specific embodiment of the present invention by belowEmbodiment and accompanying drawing thereof provide in detail.
Brief description of the drawings
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms this ShenA part please, schematic description and description of the present invention is used for explaining the present invention, andDo not form inappropriate limitation of the present invention. In the accompanying drawings:
The motion principle figure of the six bar shedding mechanisms that Fig. 1 designs for the present invention;
The opening arm angular displacement curve of the six bar shedding mechanisms that Fig. 2 designs for the present invention;
Fig. 3 is the lifting curve schematic diagram of the plain weave cam of existing shedding mechanism;
The crank angle between two limit positions schematic diagram of the six bar shedding mechanism cranks that Fig. 4 designs for the present invention;
Six bar shedding mechanism crank crank angle between two limit positions and first connecting rod that Fig. 5 designs for the present invention, shakeWhat pole length was chosen is related to schematic diagram;
Six bar shedding mechanism connecting rod triangle the second end points and the connecting rods that Fig. 6 designs for the present inventionGeometric locus and the relative position schematic diagram thereof of point;
The Locus Synthesis signal of the six bar shedding mechanism lever points that Fig. 7 designs for the present inventionFigure;
Fig. 8 is the present invention six bar shedding mechanism lever points that design and the geometric locus that swings pointAnd relative position schematic diagram;
Fig. 9 is the rough schematic view of Fig. 2;
The opening arm angular speed curve signal of the six bar shedding mechanisms that Figure 10 designs for the present inventionFigure;
The opening arm dimensionless angular acceleration song of the six bar shedding mechanisms that Figure 11 designs for the present inventionLine schematic diagram;
The configuration picture of the six bar shedding mechanisms that Figure 12 designs for the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Shown in Fig. 1, Figure 12, a kind of shed open extreme lower position has six of long pause angleThe method for designing of bar shedding mechanism, utilizes the crank AB of a crank and rocker mechanism ABCD to drive theOn one connecting rod BC extended surface, a lever point F does 8-shaped curvilinear motion, described 8-shaped curveIt is slow that right part has velocity variations, in described lever point F series connection a pair of bar assembly FGE, instituteThe plane motion of stating lever point F drives opening arm through the input connecting rod FG of described couple of bar assembly FGEGE swings; When described lever point F moves along described 8-shaped curve right part arc section,The swing point G of described couple of bar assembly FGE opening arm GE is approximate motionless, thereby described in having realizedOpening arm GE is swinging the approximate pause of extreme position, and described shedding mechanism is minimum at shed openPosition has long pause angle.
Shown in Figure 2, Fig. 2 represents the angular displacement curve of opening arm GE, and abscissa representsCrank AB corner, ordinate represents the angular displacement of opening arm GE. This angular displacement curve is at shed openThere is a long pause district in extreme lower position district, deducts from the minimum and maximum pivot angle of opening arm GEOr adding 1 °, 1 °=δ of fluctuation angle, is called little pivot angle, the region at fluctuation angle δ placeBe called pause district. 1 ° of line and angular displacement curve intersection 2 points, two of 2 corresponding crank ABIndividual rotational angle theta1、θ2，θ＝θ2-θ1, θ is called pause angle. As shown in Figure 2, at shed open°-13.5 °=74.5 °, pause angle=88 of extreme lower position, in the pause of shed open extreme higher position°-214 °=38 °, angle=252.
Curve is visible as shown in Figure 2, and shedding mechanism crank AB makes 360 ° of revolutions, opening arm GEAngular displacement curve has maximum pendulum angle and minimum swash angle, respectively corresponding shed open extreme higher position and minimumPosition, 231 ° of shed open extreme higher positions, 49 ° of shed open extreme lower positions, 182 ° of phase differences, angleDisplacement curve almost symmetry. Shedding mechanism crank AB turns 360 °, and beating-up mechanism crank turns720 °, the highest and all corresponding wefting insertion processes of extreme lower position district of shed open.
Shown in Figure 3, Fig. 3 represents the lifting curve of plain weave cam, the highest and at shed openNot etc., extreme lower position pause angle is not large for lower position approximate dwell time. Woven with this camFabric Style is full, and levels warp tension differs greatly, and the space between yarn and yarn is filled out by yarnReal. Replace cam shedding mechanism with six bar mechanism now, should design the highest and extreme lower positionThe Bar Linkage Shedding Mechanism that dead time is not waited, and Bar Linkage Shedding Mechanism can be in extreme lower positionPause angle is larger, no longer worries shedding mechanism and can not adapt to greatly at a high speed because of stressed.
Weft yarn flies out from the nozzle of wefting insertion side, crosses shed open and flies to and catch latitude side, completes wefting insertion movingDo. Weft yarn leaps the tens of milliseconds of shed openization expense, and therefore high speed shedding mechanism requires wefting insertion processCorresponding crank turns over longer angle, and opening arm is approximate to pause, and requires opening arm at shed openExtreme lower position approximate dwell time is long, and pause angle is large.
Be equipped with the mechanism of pause reciprocally swinging at the highest and lowest order of shed open, the output fortune of mechanismMove and formed by two motion morphologies, the one, take-off lever swings, and the 2nd, at the highest lowest order of shed openPut district's take-off lever and have approximate pause. There is not little swing in the pause district of shedding mechanism, justThe highest low with extreme lower position movement velocity, variation in angular displacement is slow. The pause angle of open regionθ > 70 °, crank θ is equivalent to beat up > 140 °.
Specific design step of the present invention is as follows:
Step 1) design and build crank and rocker mechanism ABCD;
The short member of crank and rocker mechanism ABCD is crank AB, and long pole is the first pin jointFrame AD between A and the second pin joint D. If the physical dimension of crank AB and frame ADKnow, design objective is the length of asking first connecting rod BC and rocking bar CD, meets following 3 conditions:
The condition that crank and rocker mechanism ABCD sets up is short member crank AB and long pole machineThe length sum of frame AD is less than first connecting rod BC and rocking bar CD length sum:
1.1LAB+LAD<LBC+LCD；
In formula, LAB, LBC, LCD represent respectively described crank AB, first connecting rod BC and shakeThe length of bar CD, LAD represents frame AD's between the first pin joint A and the second pin joint DLength.
Crank and rocker mechanism ABCD is the basis of six bar shedding mechanisms, and first order mechanism design is wantedAsk motion upper symmetrical, because the period of motion of shedding mechanism is to turn 720 ° with spindle crank ABFor one-period, every 360 ° of corresponding once beating-ups. The angular displacement of rocking bar CD is exported with opening songAB turns 180 ° for the approximate cycle, and motion requires reciprocal two processes pair of crank and rocker mechanism ABCDClaim, first connecting rod BC is longer, and rocking bar CD angular displacement curve symmetry is better; Therefore:
1.2LBC>3.2×LAB；
In formula, LAB, LBC represent respectively the length of described crank AB and first connecting rod BC.
Shown in Figure 4, Fig. 4 represents the crank angle between two limit positions of crank AB, and crank AB does 360 ° and returnsTurn, rocking bar CD is Ф as pivot angle12Swing. There are two extreme position C in rocking bar CD1D、C2D，The first extreme position C1D appears at crank AB1With first connecting rod B1C1While becoming straight line, theTwo extreme position C2D appears at crank AB2With first connecting rod B2C2While becoming straight line, twiceWhen conllinear, the corner of crank AB is respectively θ1、θ2. With total pivot angle Ф12That corresponding is crank ABRotational angle theta12＝θ2-θ1。θ12Represent the utmost point position folder of the crank AB of crank and rocker mechanism ABCDAngle, the institute's angle between crank AB and twice collinear position of first connecting rod BC is acute angle, therefore:
1.3180°＞θ12＞179.7°。
Be selected to the length of right first connecting rod BC and rocking bar CD according to condition 1.3. Referring to figureShown in 5, Fig. 5 represents θ12With the relation of choosing of first connecting rod BC, rocking bar CD length, whenFirst connecting rod BC length is selected, passes through θ12=180 °, can determine the length of rocking bar CD,Curve is visible as shown in Figure 5, for the θ of certain angle12, can search out a pair of first and connectThe length of bar BC and rocking bar CD, (Fig. 5 in length and breadth for LBC=98 millimeter and LCD=79.7 millimeterCoordinate is with the YX coordinate of Fig. 1).
According to above-mentioned condition, draw the length of first connecting rod BC and rocking bar CD; By first connecting rodThe two ends of BC are hinged with one end of crank AB and rocking bar CD respectively, then by another of crank ABThat end is hinged on the first pin joint A of frame is upper, and the other end of rocking bar CD is hinged on to frameOn the second pin joint D.
Step 2) choose 8-shaped coupler-point curve;
Take up an official post and get a lever point F at first connecting rod BC extended surface, form connecting rod triangle △ BCF,Get LBF > > LCF;
In formula, LCF, LBF represent respectively connecting rod triangle △ BCF third connecting rod CF andThe length of second connecting rod BF.
Shown in Figure 6, Fig. 6 represents the second end points C and connecting rod of connecting rod triangle △ BCFThe relative position of the geometric locus of some F, the track of the second end points C is a circular arc, lever pointThe track of F is a flat 8-shaped line, as seen from Figure 6 the second end points C and lever point FArticle two, track is close to parallel. As seen from Figure 1, select lever point F to should be taken into account following 2 points:
1) lever point F is near rocking bar CD extended line;
2)LCF＝(0.9-1.1)×LAB；
In formula, LAB, LCF, LBF represent respectively crank AB, connecting rod triangle △ BCFThe length of third connecting rod CF and second connecting rod BF.
Shown in Figure 7, Fig. 7 represents that the geometric locus of lever point F is 8-shaped coupler-point curve,Belong to flat 8-shaped curve (coordinate in length and breadth of Fig. 7 is with the YX coordinate of Fig. 1), this curveTrend is by 8 words counterclockwise, and there are a crunode, i.e. this 8-shaped connecting rod in curve middle partCurve is the joining of track back and forth.
Step 3) build described couple of bar assembly FGE;
One end of one input connecting rod FG is hinged on to lever point F upper, will inputs the another of connecting rod FGOne end of one end and an opening arm GE is hinged, then the other end of opening arm GE is joined in frameThe 3rd pin joint E upper, form two bar assembly FGE. Lever point F is taken at 8-shaped curveThe end points on right side, and be connected with the peak that swings some G track, make to input the length of connecting rod FGDegree is for the longest.
Shown in Figure 8, Fig. 8 represents lever point F and swings geometric locus and the phase thereof of some GTo position (coordinate in length and breadth of Fig. 8 is with the YX coordinate of Fig. 1), the angle marking on Fig. 8 is for openingThe corner of mouth mechanism crank AB. As shown in Figure 8, the 8-shaped curve of lever point F and swing pointThe arc track direction of G presents intersection, 67 ° and 235 ° of both ends place on 8-shaped curveCorresponding two extreme positions that swing some G of curve, namely corresponding shed open is the highest and minimumPosition.
Shown in Fig. 9 and Figure 10, Fig. 9 represents the angular displacement curve of opening arm GE, Figure 10Represent the angular speed curve of opening arm GE. Be 49 ° on angular speed curve time, opening arm GEAngular speed is zero, and this section of angular speed curve slowly changes, and curve passes through X-axis from bottom to top,Corresponding 13.5 ° of-88 ° of pause angles of shed open extreme lower position, now lever point F is positioned at 8-shaped songThe right part of line, swings some G and is positioned at opening arm GE topmost; In the time of 231 °, opening arm GEAngular speed is zero, and this section of angular speed curve is precipitous, and X is passed through in the quick variation of angular speed from the top downAxle, corresponding 214 ° of-249 ° of pause angles, shed open extreme higher position, now lever point F is positioned at 8The left part of font curve, swings some G and is positioned at opening arm GE bottom.
Utilize a section of lever point F to there is the curvilinear path of 8-shaped segmental arc, at 8-shaped curveTo have velocity variations slow in right part, get the length of the input connecting rod FG of two bar assembly FGELong enough, in the time that lever point F moves along 8-shaped curve right part arc section, opening arm GEThe swing point G that revolute pair connects is approximate motionless, has realized the approximate pause of opening arm GE.
The position of the 3rd pin joint E of variation frame, after the bar length of variation opening arm GE, justChange the position that swings some G, regulated the phase of the geometric locus of lever point F and swing point GTo position, after each variation, obtain respectively the angular displacement curve of opening arm GE, until obtainAngular displacement curve has asymmetric pause at two extreme positions of opening arm GE.
Step 4) use the angular displacement curve of opening arm GE and angular speed curve to check symmetry180 ° and pause angle;
180 ° of inspection symmetry; With checking six bar machines the zero point of opening arm GE angular speed curveThe symmetry of structure curve of output, shown in Figure 10, opening arm GE angular speed curve has twoAt zero point, zero point, corresponding crank two actors playing the same role in a theatrical work degree was respectively 231 ° and 49 °, 231 ° of differential seat angles-49 °=182 °; If differential seat angle is 180 °, show curve of output full symmetric; Angle nowDegree difference is 182 °, shows that curve of output is not exclusively symmetrical.
Inspection pause angle; Shown in Figure 9, the highest at opening arm GE angular displacement curveNear the curvilinear motion of lower position is mild, and crank AB corner corresponding to smooth variation is called pause angleDegree, °-13.5 °=74.5 °, extreme lower position pause angle=88, pause angle=249 °, extreme higher position-214 °=35 °. Extreme lower position pause angle is much larger than pause angle, extreme higher position, and Fabric Style is aobviousObtain plentiful. If the highest extreme lower position pause angle is little and equal, Fabric Style presents little side's eye.
The bar of variation input connecting rod FG is long, and the bar of variation third connecting rod CF is long, makes opening arm GEAngular displacement curve, angular speed curve and angular acceleration curve meet following condition:
1) the maximum value < 0.4 of dimensionless angular acceleration;
2) two of angular speed curves poor absolute value-180 ° of crank two actors playing the same role in a theatrical work degree corresponding to zero point＜3.2°；
3) angular displacement curve is 18 ° of the pause angle of extreme higher position >;
4) angular displacement curve is 60 ° of the pause angle of extreme lower position >.
Shown in Figure 10, Figure 10 represents opening arm GE dimensionless angular acceleration curve, nothingDimension angular acceleration=angular acceleration/crank rolling velocity2. Due in the shed open extreme lower position dead timeLong, the acceleration contiguous in shed open extreme lower position is just little, the contiguous acceleration in shed open extreme higher positionDegree is just large. So need add a condition, positive and negative angular acceleration does not differ too large, immeasurableMaximum value < 0.4 of guiding principle angular acceleration.
Above-described embodiment, just for technical conceive of the present invention and feature are described, its objective isBe to allow one of ordinary skilled in the art can understand content of the present invention real according to thisExecute, can not limit the scope of the invention with this. Every according to the present invention the reality of contentEquivalent variation or modification that matter has been done, all should be encompassed in protection scope of the present invention.
Claims (1)
1. shed open extreme lower position has the method for designing of six bar shedding mechanisms of long pause angle,It is characterized in that: utilize the crank (AB) of a crank and rocker mechanism (ABCD) to drive firstOn connecting rod (BC) extended surface, a lever point (F) is done 8-shaped curvilinear motion, described 8-shapedThe right part of curve has velocity variations feature slowly, in described lever point (F) series connection oneTwo bar assemblies (FGE), the plane motion of described lever point (F) is through described pair of bar assembly (FGE)Input connecting rod (FG) drive opening arm (GE) swing; When described lever point (F) edgeThe arc section motion of described 8-shaped curve right part, described pair of bar assembly (FGE) opening arm (GE)Swing point (G) approximate motionless, swinging the limit thereby realized described opening arm (GE)The approximate pause of position, described shedding mechanism has long pause angle in shed open extreme lower position;Specific design step is as follows:
Step 1) design and build described crank and rocker mechanism (ABCD);
If the physical dimension of described crank (AB) and frame is known, design objective be ask described inThe length of first connecting rod (BC) and rocking bar (CD), meets following condition:
1.1LAB+LAD<LBC+LCD；
1.2LBC>3.2×LAB；
1.3180°＞θ12＞179.7°；
In formula, LAB, LBC, LCD represent respectively described crank (AB), described first connecting rod(BC) and the length of described rocking bar (CD), LAD represents the first pin joint (A) and secondThe length of frame between pin joint (D), θ12Represent the crank angle between two limit positions of described crank (AB);
According to above-mentioned condition, draw described first connecting rod (BC) and described rocking bar (CD)Length; By the two ends of described first connecting rod (BC) respectively with described crank (AB) and described inOne end of rocking bar (CD) is hinged, then the other end of described crank (AB) is hinged on to frameThe first pin joint (A) upper, the other end of described rocking bar (CD) is hinged on to the of frameOn two pin joints (D);
Step 2) choose 8-shaped coupler-point curve;
2.1 described first connecting rod (BC) extended surface take up an official post get one described in lever point (F),Form connecting rod triangle (△ BCF), first get LBF > LCF, chooses described lever point (F)Should meet following 2 points:
1) described lever point (F) is near described rocking bar (CD) extended line;
2)LCF＝(0.9-1.1)×LAB；
In formula, LAB, LCF, LBF represent respectively described crank (AB), described connecting rod triangleThe third connecting rod (CF) of shape (△ BCF) and the length of second connecting rod (BF);
2.2 geometric locuses of choosing described lever point (F) are flat 8-shaped curve;
Step 3) build described pair of bar assembly (FGE);
One end of one input connecting rod (FG) is hinged on described lever point (F), described in inciting somebody to actionThe other end of input connecting rod (FG) and one end of an opening arm (GE) are hinged, then described in inciting somebody to actionIt is upper that the other end of opening arm (GE) is hinged on the 3rd pin joint (E) of frame, described in formationTwo bar assemblies (FGE); Described lever point (F) is taken at the end of the described 8-shaped curve rightmost sidePoint, and be connected with the peak of described swing point (G) track, make described input connecting rod (FG)Length for the longest;
The position of described the 3rd pin joint (E) of variation frame, changes described opening arm (GE)Bar long, changed the position of described swing point (G), regulated described lever point (F)With the relative position of the geometric locus of described swing point (G), after each variation, obtain respectively instituteState the angular displacement curve of opening arm (GE), until the described angular displacement curve of obtaining is describedTwo extreme positions of opening arm (GE) have asymmetric pause;
Step 4) right with angular displacement curve and the inspection of angular speed curve of described opening arm (GE)Title property and pause angle;
The bar that changes described input connecting rod (FG) is long, changes described third connecting rod (CF)Bar is long, makes angular displacement curve, angular speed curve and the angular acceleration of described opening arm (GE)Curve meets following condition:
1) the absolute value < 0.4 of maximum dimensionless angular acceleration;
2) angular speed curve two zero points corresponding described crank (AB) differential seat angle absolute value-180°＜3.2°；
3) angular displacement curve is 18 ° of the pause angle of extreme higher position >;
4) angular displacement curve is 60 ° of the pause angle of extreme lower position >.
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| CN104652053B (en) * | 2015-02-10 | 2017-09-15 | 江苏万工科技集团有限公司 | There are six Gan Chuanliao mechanisms of pause function in upper extreme position |
| CN104695144A (en) * | 2015-03-27 | 2015-06-10 | 江苏万工科技集团有限公司 | Six-rod take-up mechanism with balanced take-up and pay-off function |
| CN108757867B (en) * | 2018-08-01 | 2024-05-28 | 珠海格力智能装备有限公司 | Guide rod mechanism |
| CN113638105B (en) * | 2021-08-25 | 2023-03-07 | 苏州大学 | Shedding mechanism of loom |
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| IT1122547B (en) * | 1978-09-22 | 1986-04-23 | Zangs Ag Maschf | ROTATION DOBBY |
| IT1184465B (en) * | 1984-04-18 | 1987-10-28 | Schlafhorst & Co W | ROTATION DOBBY |
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